\hypertarget{classFootPlacement}{}\doxysection{Foot\+Placement Class Reference}
\label{classFootPlacement}\index{FootPlacement@{FootPlacement}}
\doxysubsection*{Public Member Functions}
\begin{DoxyCompactItemize}
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\mbox{\Hypertarget{classFootPlacement_ae2211312c822d1d49d61553fbf692feb}\label{classFootPlacement_ae2211312c822d1d49d61553fbf692feb}} 
double {\bfseries Trajectory} (double phase, double des1, double des2)
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\mbox{\Hypertarget{classFootPlacement_a44ed054253f62f43df8b23f60694d600}\label{classFootPlacement_a44ed054253f62f43df8b23f60694d600}} 
void {\bfseries get\+Swing\+Pos} ()
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\mbox{\Hypertarget{classFootPlacement_abefe39cf532cd6ee56094fd96b9aead1}\label{classFootPlacement_abefe39cf532cd6ee56094fd96b9aead1}} 
void {\bfseries data\+Bus\+Read} (\mbox{\hyperlink{structDataBus}{Data\+Bus}} \&robot\+State)
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\mbox{\Hypertarget{classFootPlacement_a833b5bb6ef5578bfed4d8d50c9786fa7}\label{classFootPlacement_a833b5bb6ef5578bfed4d8d50c9786fa7}} 
void {\bfseries data\+Bus\+Write} (\mbox{\hyperlink{structDataBus}{Data\+Bus}} \&robot\+State)
\end{DoxyCompactItemize}
\doxysubsection*{Public Attributes}
\begin{DoxyCompactItemize}
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\mbox{\Hypertarget{classFootPlacement_ae58f1f2ea1c2d690d10f4c7b7b0c67d0}\label{classFootPlacement_ae58f1f2ea1c2d690d10f4c7b7b0c67d0}} 
double {\bfseries kp\+\_\+vx} \{0\}
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\mbox{\Hypertarget{classFootPlacement_a9e1f6a5e58ce202d031a17be6652ce20}\label{classFootPlacement_a9e1f6a5e58ce202d031a17be6652ce20}} 
double {\bfseries kp\+\_\+vy} \{0\}
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\mbox{\Hypertarget{classFootPlacement_ad375e1c3c0dfa0c73e13372b092a0738}\label{classFootPlacement_ad375e1c3c0dfa0c73e13372b092a0738}} 
double {\bfseries kp\+\_\+wz} \{0\}
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\mbox{\Hypertarget{classFootPlacement_ab5b95a95c66387cf179dc54179d956a0}\label{classFootPlacement_ab5b95a95c66387cf179dc54179d956a0}} 
double {\bfseries leg\+Length} \{1\}
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\mbox{\Hypertarget{classFootPlacement_ab42c8e066a9f7d1997ca7780af64c932}\label{classFootPlacement_ab42c8e066a9f7d1997ca7780af64c932}} 
double {\bfseries step\+Height} \{0.\+1\}
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\mbox{\Hypertarget{classFootPlacement_a7efde20d6d1358c936a6d97b98993413}\label{classFootPlacement_a7efde20d6d1358c936a6d97b98993413}} 
double {\bfseries phi} \{0\}
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\mbox{\Hypertarget{classFootPlacement_a3aa4e1578da7623da69007b491e8765b}\label{classFootPlacement_a3aa4e1578da7623da69007b491e8765b}} 
double {\bfseries t\+Swing} \{0.\+4\}
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\mbox{\Hypertarget{classFootPlacement_a70def6c5b0680f0faf26967b2bc6a6c5}\label{classFootPlacement_a70def6c5b0680f0faf26967b2bc6a6c5}} 
Eigen\+::\+Vector3d {\bfseries pos\+Start\+\_\+W}
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\mbox{\Hypertarget{classFootPlacement_a6d60a94ecdf36e15bcf2965431a3168d}\label{classFootPlacement_a6d60a94ecdf36e15bcf2965431a3168d}} 
Eigen\+::\+Vector3d {\bfseries pos\+Des\+\_\+W}
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\mbox{\Hypertarget{classFootPlacement_ada37cb5fced90493462b17b224cc5252}\label{classFootPlacement_ada37cb5fced90493462b17b224cc5252}} 
Eigen\+::\+Vector3d {\bfseries hip\+Pos\+\_\+W}
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\mbox{\Hypertarget{classFootPlacement_a8d95921529c504c6571e2d0639e36f36}\label{classFootPlacement_a8d95921529c504c6571e2d0639e36f36}} 
Eigen\+::\+Vector3d {\bfseries des\+V\+\_\+W}
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\mbox{\Hypertarget{classFootPlacement_a2c65ca56953f4f104ff55200656cffee}\label{classFootPlacement_a2c65ca56953f4f104ff55200656cffee}} 
Eigen\+::\+Vector3d {\bfseries cur\+V\+\_\+W}
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\mbox{\Hypertarget{classFootPlacement_a65426884931e20e457a72ebd2885ca91}\label{classFootPlacement_a65426884931e20e457a72ebd2885ca91}} 
double {\bfseries des\+Wz\+\_\+W}
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\mbox{\Hypertarget{classFootPlacement_aa56a97026449da92c7bb7e65374a26bc}\label{classFootPlacement_aa56a97026449da92c7bb7e65374a26bc}} 
Eigen\+::\+Vector3d {\bfseries base\+\_\+pos}
\item 
\mbox{\Hypertarget{classFootPlacement_a8bc8c4f7d3ffc58d244cfc3935e31c13}\label{classFootPlacement_a8bc8c4f7d3ffc58d244cfc3935e31c13}} 
Data\+Bus\+::\+Leg\+State {\bfseries leg\+State}
\end{DoxyCompactItemize}


\doxysubsection{Detailed Description}


Definition at line 14 of file foot\+\_\+placement.\+h.



The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
\item 
foot\+\_\+placement.\+h\item 
foot\+\_\+placement.\+cpp\end{DoxyCompactItemize}
